This document introduces the idea of high redundancy
actuation. Typical requirements for actuators in different
applications are discussed, and a synthesis of the most important
parameters is presented. To be successful, a high redundancy actuator
needs to satisfy the same kind of requirements. Based
on these, tentative parameters for an experimental verification of
the high redundancy concept are proposed.

Description:

This is a Technical Report (CSG-HRA-2007-TR-4) and is part of the Control Systems Group research project "High Redundancy Actuation (HRA)"